Parameter No; Parameter Name; Pn010 Position Loop Gain; Pn011 Speed Loop Gain - Omron OMNUC G User Manual

7-4 Manual Tuning
Servo Drive Manual Tuning Procedure
There are four basic adjustment parameters for the Servo Drive.
If the desired operating characteristics can be achieved by adjusting the following four parameters,
you do not need to adjust any other parameter.

Parameter No.

About Parameter Adjustments
There are three Servo Drive control loops: the outermost Position Loop, the Speed Loop, and the
innermost Current Loop. The inner loop is affected by the outer loop and vice versa.
Set the initial values according to the configuration and rigidity of the machine, inertia ratio, and
7 other factors.
Referential parameter settings for different applications are provided below.
Parameter Settings for Different Applications
Application
Ball screw, horizontal
Ball screw, horizontal
Ball screw, horizontal
Ball screw, vertical
Ball screw, vertical
Ball screw, vertical
Ball screw, nut rotation, horizontal
Ball screw, nut rotation, horizontal Medium Medium
Ball screw, nut rotation, vertical
Ball screw, nut rotation, vertical
Timing belt
Timing belt
Rack & pinion
Rack & pinion
Rack & pinion
Index table
Index table
Robot arm, cylindrical
Robot arm, cylindrical
General purpose
The Inertial Ratio (Pn020) is fixed at 300%.
7-17

Parameter Name

Pn010 Position Loop Gain
Pn011 Speed Loop Gain
Speed Loop Integration Time
Pn012

Constant

Torque Command Filter Time
Pn014
Constant
Inertia Rigidity
Large Low
Medium Medium
Small High
Large Low
Medium Medium
Small High
Large Low
Large Low
Medium Medium
Large Low
Medium Medium
Large Low
Large Medium
Medium Medium
Large Medium
Small High
Large Low
Medium Medium
Medium Medium
Default Value
40.0[1/s]
50.0Hz
20.0ms
0.80ms
Speed Loop
Position
Speed Loop Integration
Loop Gain
Gain [Hz] Time Con-
[1/s]
20 140
40 80
80 60
20 160
40 80
60 60
20 140
40 100
20 160
40 120
20 160
30 120
20 160
30 120
40 100
40 120
80 120
15 160
25 120
30 100
2nd Parameter No.
Pn018
Pn019
Pn01A
Pn01C
Torque Command
Filter Time Constant
×
[ 0.01 ms]
stant
35 160
20 100
15 80
45 160
30 120
20 100
40 160
30 120
45 160
25 120
60 160
40 120
60 160
40 120
20 100
25 120
20 100
60 160
40 120
30 150